#include "global_smoother_parameters.h"
#include <iostream>
#include <string>
#include <vector>

Global_Smoother_Parameters::Global_Smoother_Parameters()
{
    common_config = YAML::LoadFile("/home/x/path_routing_ws/src/global_smoother/params/common_parameters.yaml");

    smoother_paths_lateral_devistion  = common_config["smoother_paths_lateral_devistion"].as<double>();
    weight_fem_pos_deviation  = common_config["weight_fem_pos_deviation"].as<double>();
    weight_ref_deviation  = common_config["weight_ref_deviation"].as<double>();
    weight_path_length  = common_config["weight_path_length"].as<double>();
    max_iter  = common_config["max_iter"].as<int>();
}

Global_Smoother_Parameters::~Global_Smoother_Parameters()
{
}